文档介绍：Abstract 硕士学位论文 Abstract With山e promotion ofindustrialization pmcess,the development ofindustrial robots is the use tool fixed on tlle ’ector and workpiece were always coordinate calibrationdetemirles uracy of trajectory plalllling and workpiece calibration isVery important foro昏1ine calibration. Therefore,the research oft001aIldworkpiece calibration hasgreatsignificaIlce. Around thequestion oftoolcoordi工latecalibration,this p印er proposed atoolcalibration methodbased 0n p印er firstelaboratedthe舭ory oftoolcoordinate calibmtion. Then thisp叩er described也e positioning method baSed onc锄era space manipulation in detailand didresearch onⅡle method ofestablishing therelationship between camera space a11drobot t11ree—dimensional space,t11en Verified thepositioning accuracy based on Vision and applied thiskind ofpositioning method totoolcoordinate mat,thispaper desc“bed thesteps oftoolcalibration experi工Ilents based on Vision. Around the question ofworkpiece coordinate calibration,Ⅱlis paper used aworkpiece coordinate calibration method based onhi曲precision position senSitive 6rstdescribed t11etheo巧of workpiece coordinate calibration,and in扫oduced themetllod of calibration dataacquisition under workpiece coordinate a11dcalibration dataacquisition under robot base described theposition metllod based feedback ofPSD v01tages experimentiIlg,this paper calibrated the laser firstand analyzed the conVe唱ent oflaser intersections aRer laser thisp印er elaborated the experiments’steps ofworkpiece calibration. According tothemethods proposed before,this paper established calibrationplatfom fortoolandworkpiece calibration,a11d deVeloped thesoftware whole calibration system is aself_calibration system which toolcalibration,this p印er chose acommon t001which 100ked 1ikethewelding torch forcalibra